EventHandler.h

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/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

#include <ct/core/types/StateVector.h>

namespace ct {
namespace core {


template <size_t STATE_DIM, typename SCALAR = double>
class EventHandler
{
public:
    EventHandler() {}
    virtual ~EventHandler() {}
    virtual bool callOnSubsteps() = 0;

    virtual void reset() = 0;


    virtual bool checkEvent(const StateVector<STATE_DIM, SCALAR>& state, const SCALAR& t) = 0;


    virtual void handleEvent(const StateVector<STATE_DIM, SCALAR>& state, const SCALAR& t) = 0;

private:
    StateVectorArray<STATE_DIM, SCALAR> stateTrajectory_;  
    tpl::TimeArray<SCALAR> timeTrajectory_;                
};
}
}